Bernhard, Sebastian (2017)
Time-Invariant Control in LQ Optimal Tracking: An Alternative to Output Regulation.
In: IFAC-Papers OnLine, 50 (1)
doi: 10.1016/j.ifacol.2017.08.746
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
We propose a new time-invariant control for linear quadratic tracking problems with references and disturbances generated by linear exo-systems. The control consists of a static feedback and a static pre-filter similar as in output regulation theory (ORT). Instead of forcing the tracking error to converge to zero, a tolerated steady-state error is balanced against the necessary input-energy via a quadratic cost. For the first time in this context, we deduce a time-invariant control from algebraic equations such that necessary optimality conditions are satisfied on infinite horizons. Then, we prove strong optimality for bounded exo-system states. Hence, any other steady-state solution will lead to infinite additional cost. On finite horizons and for arbitrary exo-systems, we prove that our control is an agreeable plan as it approximates the computational expensive, time-varying optimal control of any suitably large horizon. Since our control applies for any initial conditions of the plant and the exo-system, it is well suited for a practical resource-efficient implementation. In this regard, a presented algorithm allows for an easy to carry out control design. Finally, an industrial application indicates the unified treatment of square, under- and over-actuated systems by our approach in contrast to ORT.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2017 |
| Autor(en): | Bernhard, Sebastian |
| Art des Eintrags: | Bibliographie |
| Titel: | Time-Invariant Control in LQ Optimal Tracking: An Alternative to Output Regulation |
| Sprache: | Englisch |
| Publikationsjahr: | Juli 2017 |
| Verlag: | Elsevier |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IFAC-Papers OnLine |
| Jahrgang/Volume einer Zeitschrift: | 50 |
| (Heft-)Nummer: | 1 |
| DOI: | 10.1016/j.ifacol.2017.08.746 |
| Kurzbeschreibung (Abstract): | We propose a new time-invariant control for linear quadratic tracking problems with references and disturbances generated by linear exo-systems. The control consists of a static feedback and a static pre-filter similar as in output regulation theory (ORT). Instead of forcing the tracking error to converge to zero, a tolerated steady-state error is balanced against the necessary input-energy via a quadratic cost. For the first time in this context, we deduce a time-invariant control from algebraic equations such that necessary optimality conditions are satisfied on infinite horizons. Then, we prove strong optimality for bounded exo-system states. Hence, any other steady-state solution will lead to infinite additional cost. On finite horizons and for arbitrary exo-systems, we prove that our control is an agreeable plan as it approximates the computational expensive, time-varying optimal control of any suitably large horizon. Since our control applies for any initial conditions of the plant and the exo-system, it is well suited for a practical resource-efficient implementation. In this regard, a presented algorithm allows for an easy to carry out control design. Finally, an industrial application indicates the unified treatment of square, under- and over-actuated systems by our approach in contrast to ORT. |
| Zusätzliche Informationen: | Proceedings of the 20th IFAC World Congress, Toulouse (France), 09.-14.07.2017 |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Robotik (ab 01.08.2022 umbenannt in Regelungsmethoden und Intelligente Systeme) |
| Hinterlegungsdatum: | 24 Jul 2017 08:12 |
| Letzte Änderung: | 04 Apr 2023 07:25 |
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